Generic CRTP implementation for a task tracking a curve in both position and orientation. This class takes care of much of the logic behind tracking a curve: More...

#include <mc_tasks/SplineTrajectoryTask.h>

Inheritance diagram for mc_tasks::SplineTrajectoryTask< Derived >:

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Collaboration diagram for mc_tasks::SplineTrajectoryTask< Derived >:

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Public Types
using	SplineTrajectoryBase = SplineTrajectoryTask< Derived >

using	TrajectoryTask = TrajectoryTaskGeneric

using	SequenceInterpolator6d = mc_trajectory::SequenceInterpolator< Eigen::Vector6d, mc_trajectory::LinearInterpolation< Eigen::Vector6d > >

Public Types inherited from mc_tasks::TrajectoryTaskGeneric
using	TrajectoryBase = TrajectoryTaskGeneric

Public Types inherited from mc_tasks::MetaTask
using	Backend = mc_solver::QPSolver::Backend

Public Member Functions
	SplineTrajectoryTask (const mc_rbdyn::RobotFrame &frame, double duration, double stiffness, double weight, const Eigen::Matrix3d &target, const std::vector< std::pair< double, Eigen::Matrix3d >> &oriWp={})
	Constructor. More...

void	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config) override
	Load parameters from a Configuration object. More...

std::function< bool(const mc_tasks::MetaTask &, std::string &)>	buildCompletionCriteria (double dt, const mc_rtc::Configuration &config) const override

void	oriWaypoints (const std::vector< std::pair< double, Eigen::Matrix3d >> &oriWp)
	Sets the orientation waypoints. More...

bool	timeElapsed () const
	Whether the trajectory has finished. More...

Eigen::VectorXd	eval () const override
	Returns the transformError between current robot surface pose and its final target. More...

virtual Eigen::VectorXd	evalTracking () const
	Returns the trajectory tracking error: transformError between the current robot surface pose and its next desired pose along the trajectory error. More...

void	target (const sva::PTransformd &target)
	Sets the curve target pose. Translation target will be handled by the Derived curve, while orientation target is interpolated here. More...

const sva::PTransformd	target () const
	Gets the target pose (position/orientation) More...

void	displaySamples (unsigned s)
	Number of points to sample on the spline for the gui display. More...

unsigned	displaySamples () const
	Number of samples for displaying the spline. More...

void	pause (bool paused)
	Allows to pause the task. More...

bool	pause () const noexcept

double	currentTime () const noexcept

double	duration () const noexcept
	Returns the trajectory's duration. More...

Setters for the tasks gains and gain interpolation (dimWeight/Stiffnes/Damping)
This task supports two different ways to define gains: the dimWeight, stiffness, damping and setGains setters inherited from TrajectoryTaskGeneric linear interpolation of gains values managed by dimWeightInterpolation, stiffnessInterpolation, dampingInterpolation If an interpolation method is present, calling the corresponding dimWeight/stiffness/damping/setGains setter will disable interpolation and set a constant gain. The interpolation setters ensure that gains are interpolated starting from the current (time, gain) values.
void	dimWeight (const Eigen::VectorXd &dimW) override
	Sets the dimensional weights (controls the importance of orientation/translation). More...

Eigen::VectorXd	dimWeight () const override
	Gets the dimensional weights (orientation/translation) More...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

void	setGains (double stiffness, double damping)
	Set both stiffness and damping. More...

void	setGains (const Eigen::VectorXd &stiffness, const Eigen::VectorXd &damping)
	Set dimensional stiffness and damping. More...

void	dimWeightInterpolation (const std::vector< std::pair< double, Eigen::Vector6d >> &dimWeights)

const std::vector< std::pair< double, Eigen::Vector6d > > &	dimWeightInterpolation () const noexcept
	Sets the dimensional weights (controls the importance of orientation/translation). More...

void	stiffnessInterpolation (const std::vector< std::pair< double, Eigen::Vector6d >> &stiffnessGains)

const std::vector< std::pair< double, Eigen::Vector6d > > &	stiffnessInterpolation () const noexcept
	Sets the dimensional weights (controls the importance of orientation/translation). More...

void	dampingInterpolation (const std::vector< std::pair< double, Eigen::Vector6d >> &dampingGains)

const std::vector< std::pair< double, Eigen::Vector6d > > &	dampingInterpolation () const noexcept
	Sets the dimensional weights (controls the importance of orientation/translation). More...

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

double	damping () const
	Get the current task damping. More...

void	dimWeight (const Eigen::VectorXd &dimW) override
	Sets the dimensional weights (controls the importance of orientation/translation). More...

Eigen::VectorXd	dimWeight () const override
	Sets the dimensional weights (controls the importance of orientation/translation). More...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

double	stiffness () const
	Get the current task stiffness. More...

Public Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
	TrajectoryTaskGeneric (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness, double weight)
	Constructor (auto damping) More...

	TrajectoryTaskGeneric (const mc_rbdyn::RobotFrame &frame, double stiffness, double weight)
	Constructor (auto damping) More...

virtual	~TrajectoryTaskGeneric ()=default

void	reset () override
	Reset task target velocity and acceleration to zero. More...

void	refVel (const Eigen::VectorXd &vel)
	Set the trajectory reference velocity. More...

const Eigen::VectorXd &	refVel () const
	Get the trajectory reference velocity. More...

void	refAccel (const Eigen::VectorXd &accel)
	Set the trajectory reference acceleration. More...

const Eigen::VectorXd &	refAccel () const
	Get the trajectory reference acceleration. More...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

void	setGains (double stiffness, double damping)
	Set both stiffness and damping. More...

void	setGains (const Eigen::VectorXd &stiffness, const Eigen::VectorXd &damping)
	Set dimensional stiffness and damping. More...

double	stiffness () const
	Get the current task stiffness. More...

double	damping () const
	Get the current task damping. More...

const Eigen::VectorXd &	dimStiffness () const
	Get the current task dimensional stiffness. More...

const Eigen::VectorXd &	dimDamping () const
	Get the current task dimensional damping. More...

void	weight (double w)
	Set the task weight. More...

double	weight () const
	Returns the task weight. More...

void	dimWeight (const Eigen::VectorXd &dimW) override
	Set the task's dimension weight vector. More...

Eigen::VectorXd	dimWeight () const override
	Get the current task's dim weight vector. More...

void	selectActiveJoints (const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}, bool checkJoints=true)
	Create an active joints selector. More...

void	selectActiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}) override
	Create an active joints selector. More...

void	selectUnactiveJoints (const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={}, bool checkJoints=true)
	Create an unactive joints selector. More...

void	selectUnactiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={}) override
	Create an unactive joints selector. More...

virtual void	resetJointsSelector ()

void	resetJointsSelector (mc_solver::QPSolver &solver) override
	Reset active joints selection. More...

Eigen::VectorXd	eval () const override
	Returns the task error. More...

Eigen::VectorXd	speed () const override
	Returns the task velocity. More...

const Eigen::VectorXd &	normalAcc () const

void	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config) override
	Load parameters from a Configuration object. More...

Public Member Functions inherited from mc_tasks::MetaTask
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

virtual void	name (const std::string &name)

const std::string &	name () const

size_t	iterInSolver () const noexcept
	Get the number of iterations since the task was added to the solver. More...

void	resetIterInSolver () noexcept
	Set the number of iterations since the task was added to the solver to zero. More...

void	incrementIterInSolver () noexcept
	Increment the number of iterations since the task was added to the solver. More...

Backend	backend () const noexcept

Protected Member Functions
void	refPose (const sva::PTransformd &pose)
	Tracks a reference world pose. More...

const sva::PTransformd &	refPose () const
	Returns the trajectory reference world pose. More...

void	addToGUI (mc_rtc::gui::StateBuilder &gui) override
	Add task controls to the GUI. Interactive controls for the trajectory waypoints and end-endpoints automatically updates the curve. More...

void	addToLogger (mc_rtc::Logger &logger) override
	Add information about the task to the logger. More...

void	update (mc_solver::QPSolver &) override
	Update trajectory target. More...

void	interpolateGains ()

void	refAccel (const Eigen::VectorXd &accel)
	Set the trajectory reference acceleration. More...

const Eigen::VectorXd &	refAccel () const
	Get the trajectory reference acceleration. More...

void	refVel (const Eigen::VectorXd &vel)
	Set the trajectory reference velocity. More...

const Eigen::VectorXd &	refVel () const
	Get the trajectory reference velocity. More...

Protected Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
template<Backend backend, typename ErrorT , typename... Args>
void	finalize (Args &&... args)

void	addToGUI (mc_rtc::gui::StateBuilder &) override

void	addToLogger (mc_rtc::Logger &logger) override

std::function< bool(const mc_tasks::MetaTask &task, std::string &)>	buildCompletionCriteria (double dt, const mc_rtc::Configuration &config) const override

void	addToSolver (mc_solver::QPSolver &solver) override
	Add the task to a solver. More...

void	removeFromSolver (mc_solver::QPSolver &solver) override
	Remove the task from a solver. More...

void	update (mc_solver::QPSolver &) override
	Update the task. More...

Protected Member Functions inherited from mc_tasks::MetaTask
virtual void	removeFromLogger (mc_rtc::Logger &)

virtual void	removeFromGUI (mc_rtc::gui::StateBuilder &)

Protected Attributes
mc_rbdyn::ConstRobotFramePtr	frame_

double	duration_ = 0

mc_trajectory::InterpolatedRotation	oriSpline_

SequenceInterpolator6d	dimWeightInterpolator_

SequenceInterpolator6d	stiffnessInterpolator_

SequenceInterpolator6d	dampingInterpolator_

bool	paused_ = false

double	currTime_ = 0.

unsigned	samples_ = 20

bool	inSolver_ = false

Protected Attributes inherited from mc_tasks::TrajectoryTaskGeneric
const mc_rbdyn::Robots &	robots

unsigned int	rIndex

mc_rtc::void_ptr	errorT {nullptr, nullptr}

Eigen::VectorXd	refVel_

Eigen::VectorXd	refAccel_

bool	inSolver_ = false

mc_rtc::void_ptr	trajectoryT_ {nullptr, nullptr}

Eigen::VectorXd	stiffness_

Eigen::VectorXd	damping_

double	weight_

mc_rtc::void_ptr	selectorT_ {nullptr, nullptr}

Protected Attributes inherited from mc_tasks::MetaTask
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Additional Inherited Members
Static Protected Member Functions inherited from mc_tasks::MetaTask
static void	addToSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	removeFromSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	update (MetaTask &t, mc_solver::QPSolver &solver)

static void	addToLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	removeFromLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	addToGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	removeFromGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	ensureHasJoints (const mc_rbdyn::Robot &robot, const std::vector< std::string > &joints, const std::string &prefix)

Detailed Description

template<typename Derived>
struct mc_tasks::SplineTrajectoryTask< Derived >

Generic CRTP implementation for a task tracking a curve in both position and orientation. This class takes care of much of the logic behind tracking a curve:

Interpolates between orientation waypoints defined as pairs [time, orientation]
Provides reference position/velocity/acceleration from underlying curve (defined in the Derived class)
Implements GUI elements for controlling waypoints, targets, etc.
Brings in all the functionalities from TrajectoryTaskGeneric

To implement tracking of a new curve, simply derive from this class and implement the functionalites specific to the curve. You need to at least implement:

spline() accessors
targetPos() accessors/setters The spline itself (as returned by spline()) should at least implement:
update() triggers the curve computation if needed (if waypoints/constraints changed)
target() accessors/setters
splev(t, order) computes the position and its nth-order derivatives at time t along the curve

Member Typedef Documentation

◆ SequenceInterpolator6d

template<typename Derived >

using mc_tasks::SplineTrajectoryTask< Derived >::SequenceInterpolator6d = mc_trajectory::SequenceInterpolator<Eigen::Vector6d, mc_trajectory::LinearInterpolation<Eigen::Vector6d> >

◆ SplineTrajectoryBase

template<typename Derived >

using mc_tasks::SplineTrajectoryTask< Derived >::SplineTrajectoryBase = SplineTrajectoryTask<Derived>

◆ TrajectoryTask

template<typename Derived >

using mc_tasks::SplineTrajectoryTask< Derived >::TrajectoryTask = TrajectoryTaskGeneric

Constructor & Destructor Documentation

◆ SplineTrajectoryTask()

template<typename Derived >

mc_tasks::SplineTrajectoryTask< Derived >::SplineTrajectoryTask	(	const mc_rbdyn::RobotFrame &	frame,
		double	duration,
		double	stiffness,
		double	weight,
		const Eigen::Matrix3d &	target,
		const std::vector< std::pair< double, Eigen::Matrix3d >> &	oriWp = `{}`
	)

Constructor.

Parameters

frame	Control frame
duration	Length of the motion
stiffness	Task stiffness
weight	Task weight
target	Target orientation
oriWp	Optional orientation waypoints (pairs of [time, orientation])

Member Function Documentation

◆ addToGUI()

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::addToGUI ( mc_rtc::gui::StateBuilder & gui )

overrideprotectedvirtual

Add task controls to the GUI. Interactive controls for the trajectory waypoints and end-endpoints automatically updates the curve.

Reimplemented from mc_tasks::MetaTask.

◆ addToLogger()

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::addToLogger ( mc_rtc::Logger & logger )

overrideprotectedvirtual

Add information about the task to the logger.

Parameters

logger

Reimplemented from mc_tasks::MetaTask.

◆ buildCompletionCriteria()

template<typename Derived >

std::function<bool(const mc_tasks::MetaTask &, std::string &)> mc_tasks::SplineTrajectoryTask< Derived >::buildCompletionCriteria	(	double	dt,
		const mc_rtc::Configuration &	config
	)		const

overridevirtual

Add support for the following entries

timeElapsed: True when the task duration has elapsed
wrench: True when the force applied on the robot surface is higher than the provided threshold (6d vector, NaN value ignores the reading, negative values invert the condition). Ignored if the surface has no force-sensor attached.
Exceptions

if the surface does not have an associated force sensor

Reimplemented from mc_tasks::MetaTask.

◆ currentTime()

template<typename Derived >

double mc_tasks::SplineTrajectoryTask< Derived >::currentTime ( ) const

inlinenoexcept

Returns the current time along the trajectory

◆ damping() [1/5]

template<typename Derived >

double mc_tasks::TrajectoryTaskGeneric::damping

Get the current task damping.

◆ damping() [2/5]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::damping

Set dimensional damping.

The caller should be sure that the dimension of the vector fits the task dimension.

Parameters

damping Dimensional damping

◆ damping() [3/5]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::damping ( const Eigen::VectorXd & damping )

Set dimensional damping.

The caller should be sure that the dimension of the vector fits the task dimension.

Note: Removes the dampingInterpolator_ if it exists

Parameters

damping Dimensional damping

◆ damping() [4/5]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::damping

Set the task damping, leaving its stiffness unchanged.

Parameters

damping Task stiffness

◆ damping() [5/5]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::damping ( double damping )

Set the task damping, leaving its stiffness unchanged.

Note: Removes the dampingInterpolator_ if it exists

Parameters

damping Task stiffness

◆ dampingInterpolation() [1/2]

template<typename Derived >

const std::vector<std::pair<double, Eigen::Vector6d> >& mc_tasks::SplineTrajectoryTask< Derived >::dampingInterpolation ( ) const

inlinenoexcept

Sets the dimensional weights (controls the importance of orientation/translation).

Note: Removes the dimWeightInterpolator_ if it exists

Exceptions

if	dimW is not a Vector6d

Parameters

dimW	Weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

◆ dampingInterpolation() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::dampingInterpolation ( const std::vector< std::pair< double, Eigen::Vector6d >> & dampingGains )

Interpolate the dimensional damping between the provided values

Parameters

dampingGains Pairs of [time, dimensional gain]. Must be strictly ordered by ascending time, and time > currentTime()

Note: To remove interpolation, call one of the damping setters (see damping); If you call this function after the task is started, and wish to keep the gains continuous, you should insert the [currentTime(), dimWeight()] pair in the dampingGains argument.

Exceptions

std::runtime_error If dampingGains is not meeting the requirements

◆ dimWeight() [1/4]

template<typename Derived >

Eigen::VectorXd mc_tasks::TrajectoryTaskGeneric::dimWeight

override

Sets the dimensional weights (controls the importance of orientation/translation).

Note: Removes the dimWeightInterpolator_ if it exists

Exceptions

if	dimW is not a Vector6d

Parameters

dimW	Weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

◆ dimWeight() [2/4]

template<typename Derived >

Eigen::VectorXd mc_tasks::SplineTrajectoryTask< Derived >::dimWeight ( ) const

overridevirtual

Gets the dimensional weights (orientation/translation)

Returns: Dimensional weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

Implements mc_tasks::MetaTask.

◆ dimWeight() [3/4]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::dimWeight

override

Sets the dimensional weights (controls the importance of orientation/translation).

Note: Removes the dimWeightInterpolator_ if it exists

Exceptions

if	dimW is not a Vector6d

Parameters

dimW	Weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

◆ dimWeight() [4/4]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::dimWeight ( const Eigen::VectorXd & dimW )

overridevirtual

Sets the dimensional weights (controls the importance of orientation/translation).

Note: Removes the dimWeightInterpolator_ if it exists

Exceptions

if	dimW is not a Vector6d

Parameters

dimW	Weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

Implements mc_tasks::MetaTask.

◆ dimWeightInterpolation() [1/2]

template<typename Derived >

const std::vector<std::pair<double, Eigen::Vector6d> >& mc_tasks::SplineTrajectoryTask< Derived >::dimWeightInterpolation ( ) const

inlinenoexcept

Sets the dimensional weights (controls the importance of orientation/translation).

Note: Removes the dimWeightInterpolator_ if it exists

Exceptions

if	dimW is not a Vector6d

Parameters

dimW	Weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

◆ dimWeightInterpolation() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::dimWeightInterpolation ( const std::vector< std::pair< double, Eigen::Vector6d >> & dimWeights )

Interpolate the dimensional weight between the specified values

Parameters

dimWeights Pairs of [time, dimensional gain], strictly ordered by ascending time.

Note: To remove interpolation, call dimWeight; If you call this function after the task is started, and wish to keep the gains continuous, you should insert the [currentTime(), dimWeight()] pair in the dimWeights argument.

Exceptions

std::runtime_error If dimWeights is not meeting the requirements

◆ displaySamples() [1/2]

template<typename Derived >

unsigned mc_tasks::SplineTrajectoryTask< Derived >::displaySamples ( ) const

Number of samples for displaying the spline.

Returns: number of samples

◆ displaySamples() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::displaySamples ( unsigned s )

Number of points to sample on the spline for the gui display.

Parameters

s	number of samples

◆ duration()

template<typename Derived >

double mc_tasks::SplineTrajectoryTask< Derived >::duration ( ) const

inlinenoexcept

Returns the trajectory's duration.

◆ eval()

template<typename Derived >

Eigen::VectorXd mc_tasks::SplineTrajectoryTask< Derived >::eval ( ) const

overridevirtual

Returns the transformError between current robot surface pose and its final target.

Returns: The error w.r.t the final target

Implements mc_tasks::MetaTask.

◆ evalTracking()

template<typename Derived >

virtual Eigen::VectorXd mc_tasks::SplineTrajectoryTask< Derived >::evalTracking ( ) const

virtual

Returns the trajectory tracking error: transformError between the current robot surface pose and its next desired pose along the trajectory error.

Returns: The trajectory tracking error

◆ interpolateGains()

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::interpolateGains ( )

protected

Interpolate dimWeight, stiffness, damping

◆ load()

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::load	(	mc_solver::QPSolver &	solver,
		const mc_rtc::Configuration &	config
	)

overridevirtual

Load parameters from a Configuration object.

Reimplemented from mc_tasks::MetaTask.

◆ oriWaypoints()

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::oriWaypoints ( const std::vector< std::pair< double, Eigen::Matrix3d >> & oriWp )

Sets the orientation waypoints.

Parameters

oriWp Orientation waypoints defined as pairs of [time, orientation]

◆ pause() [1/2]

template<typename Derived >

bool mc_tasks::SplineTrajectoryTask< Derived >::pause ( ) const

inlinenoexcept

True when the task is paused

◆ pause() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::pause ( bool paused )

inline

Allows to pause the task.

This feature is mainly intended to allow starting the task in paused state to allow adjusting the parameters of the trajectory before its execution. Use with care in other contexts.

Warning: Pausing sets the task's desired velocity and acceleration to zero, which will suddently stop the motion. Unpausing causes the motion to resume at the current speed along the trajectory. Avoid pausing/resuming during high-speed trajectories.

Parameters

paused True to pause the task, False to resume.

◆ refAccel() [1/2]

template<typename Derived >

const Eigen::VectorXd& mc_tasks::TrajectoryTaskGeneric::refAccel

protected

Get the trajectory reference acceleration.

◆ refAccel() [2/2]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::refAccel

protected

Set the trajectory reference acceleration.

Parameters

accel New reference acceleration

◆ refPose() [1/2]

template<typename Derived >

const sva::PTransformd& mc_tasks::SplineTrajectoryTask< Derived >::refPose ( ) const

protected

Returns the trajectory reference world pose.

Returns: Desired pose (world)

◆ refPose() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::refPose ( const sva::PTransformd & pose )

protected

Tracks a reference world pose.

Parameters

pose	Desired position (world)

◆ refVel() [1/2]

template<typename Derived >

const Eigen::VectorXd& mc_tasks::TrajectoryTaskGeneric::refVel

protected

Get the trajectory reference velocity.

◆ refVel() [2/2]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::refVel

protected

Set the trajectory reference velocity.

Parameters

vel	New reference velocity

◆ setGains() [1/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::setGains	(	const Eigen::VectorXd &	stiffness,
		const Eigen::VectorXd &	damping
	)

Set dimensional stiffness and damping.

The caller should be sure that the dimensions of the vectors fit the task dimension.

Note: Removes the stiffnessInterpolator_ and dampingInterpolator_ if they exist

Parameters

stiffness	Dimensional stiffness
damping	Dimensional damping

◆ setGains() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::setGains	(	double	stiffness,
		double	damping
	)

Set both stiffness and damping.

Parameters

stiffness Task stiffness

Note: Removes the stiffnessInterpolator_ and dampingInterpolator_ if they exist

Parameters

damping Task damping

◆ stiffness() [1/5]

template<typename Derived >

double mc_tasks::TrajectoryTaskGeneric::stiffness

Get the current task stiffness.

◆ stiffness() [2/5]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::stiffness

Set dimensional stiffness.

The caller should be sure that the dimension of the vector fits the task dimension.

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Dimensional stiffness

◆ stiffness() [3/5]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::stiffness ( const Eigen::VectorXd & stiffness )

Set dimensional stiffness.

The caller should be sure that the dimension of the vector fits the task dimension.

Damping is automatically set to 2*sqrt(stiffness)

Note: Removes the stiffnessInterpolator_ if it exists

Parameters

stiffness Dimensional stiffness

◆ stiffness() [4/5]

template<typename Derived >

void mc_tasks::TrajectoryTaskGeneric::stiffness

Set the task stiffness/damping.

Damping is automatically set to 2*sqrt(stiffness)

Parameters

stiffness Task stiffness

◆ stiffness() [5/5]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::stiffness ( double stiffness )

Set the task stiffness/damping.

Damping is automatically set to 2*sqrt(stiffness)

Note: Removes the stiffnessInterpolator_ if it exists

Parameters

stiffness Task stiffness

◆ stiffnessInterpolation() [1/2]

template<typename Derived >

const std::vector<std::pair<double, Eigen::Vector6d> >& mc_tasks::SplineTrajectoryTask< Derived >::stiffnessInterpolation ( ) const

inlinenoexcept

Sets the dimensional weights (controls the importance of orientation/translation).

Note: Removes the dimWeightInterpolator_ if it exists

Exceptions

if	dimW is not a Vector6d

Parameters

dimW	Weights expressed as a Vector6d [wx, wy, wz, tx, ty, tz]

◆ stiffnessInterpolation() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::stiffnessInterpolation ( const std::vector< std::pair< double, Eigen::Vector6d >> & stiffnessGains )

Interpolate the stiffness between the provided values

Parameters

stiffnessGains Pairs of [time, dimensional gain], strictly ordered by ascending time.

Note: If there is no dampingInterpolation, damping will be set to 2*sqrt(stiffness); To remove interpolation, call one of the stiffness setters (see stiffness); If you call this function after the task is started, and wish to keep the gains continuous, you should insert the [currentTime(), dimWeight()] pair in the stiffnessGains argument.

Exceptions

std::runtime_error If stiffnessGains is not meeting the requirements

◆ target() [1/2]

template<typename Derived >

const sva::PTransformd mc_tasks::SplineTrajectoryTask< Derived >::target ( ) const

Gets the target pose (position/orientation)

Returns: target pose

◆ target() [2/2]

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::target ( const sva::PTransformd & target )

Sets the curve target pose. Translation target will be handled by the Derived curve, while orientation target is interpolated here.

Parameters

target Target pose for the curve

◆ timeElapsed()

template<typename Derived >

bool mc_tasks::SplineTrajectoryTask< Derived >::timeElapsed ( ) const

Whether the trajectory has finished.

Returns: True if the trajectory has finished

◆ update()

template<typename Derived >

void mc_tasks::SplineTrajectoryTask< Derived >::update ( mc_solver::QPSolver & )

overrideprotectedvirtual

template<typename Derived >

SequenceInterpolator6d mc_tasks::SplineTrajectoryTask< Derived >::stiffnessInterpolator_

protected

The documentation for this struct was generated from the following file:

include/mc_tasks/SplineTrajectoryTask.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename Derived> struct mc_tasks::SplineTrajectoryTask< Derived >

Member Typedef Documentation

◆ SequenceInterpolator6d

◆ SplineTrajectoryBase

◆ TrajectoryTask

Constructor & Destructor Documentation

◆ SplineTrajectoryTask()

Member Function Documentation

◆ addToGUI()

◆ addToLogger()

◆ buildCompletionCriteria()

◆ currentTime()

◆ damping() [1/5]

◆ damping() [2/5]

◆ damping() [3/5]

◆ damping() [4/5]

◆ damping() [5/5]

◆ dampingInterpolation() [1/2]

◆ dampingInterpolation() [2/2]

◆ dimWeight() [1/4]

◆ dimWeight() [2/4]

◆ dimWeight() [3/4]

◆ dimWeight() [4/4]

◆ dimWeightInterpolation() [1/2]

◆ dimWeightInterpolation() [2/2]

◆ displaySamples() [1/2]

◆ displaySamples() [2/2]

◆ duration()

◆ eval()

◆ evalTracking()

◆ interpolateGains()

◆ load()

◆ oriWaypoints()

◆ pause() [1/2]

◆ pause() [2/2]

◆ refAccel() [1/2]

◆ refAccel() [2/2]

◆ refPose() [1/2]

◆ refPose() [2/2]

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ setGains() [1/2]

◆ setGains() [2/2]

◆ stiffness() [1/5]

◆ stiffness() [2/5]

◆ stiffness() [3/5]

◆ stiffness() [4/5]

◆ stiffness() [5/5]

◆ stiffnessInterpolation() [1/2]

◆ stiffnessInterpolation() [2/2]

◆ target() [1/2]

◆ target() [2/2]

◆ timeElapsed()

◆ update()

Member Data Documentation

◆ currTime_

◆ dampingInterpolator_

◆ dimWeightInterpolator_

◆ duration_

◆ frame_

◆ inSolver_

◆ oriSpline_

◆ paused_

◆ samples_

◆ stiffnessInterpolator_

template<typename Derived>
struct mc_tasks::SplineTrajectoryTask< Derived >